---
license: cc-by-4.0
task_categories:
- robotics
tags:
- robotics
- computer_vision
- gaussian_splatting
- plant_phenotyping
---
# Dataset Card for Botany-Bot

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The Botany-Bot dataset contains data from 8 potted plants collected using a lightbox and digital turntable at AUTOLab @UC Berkeley, USA.

## Dataset Details

### Dataset Description

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There are eight plants folder in this dataset: Alocasia, Anthurium, Belize, Croton, Pepper 1, Pepper 2, Pepper 3, Princess Pink.

Data in each plant folder is in the [Nerfstudio](https://docs.nerf.studio/index.html) format containing depth, images, images_2, images_4, images_8, and masks folders. Each folder also includes a transforms.json file.  

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- **License:** Creative Commons Attribution 4.0 (cc-by-4.0)

### Dataset Sources

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- **Website:** [https://berkeleyautomation.github.io/Botany-Bot/](https://berkeleyautomation.github.io/Botany-Bot/)
- **Paper:** [Botany-Bot: Digital Twin Monitoring of Occluded and Underleaf Plant Structures with Gaussian Splats](https://ieeexplore.ieee.org/document/11247474)
- **Arxiv:** [Botany-Bot: Digital Twin Monitoring of Occluded and Underleaf Plant Structures with Gaussian Splats](https://arxiv.org/abs/2510.17783)
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<!-- ## Uses

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## Dataset Structure

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- depth/: depth images
- images/: raw images
- images_x/: images downscaled by a factor of x
- masks/: segmentation masks for every image following the [Nerfstudio convention for masks](https://docs.nerf.studio/quickstart/data_conventions.html#masks).
- transforms.json: contains details required in [Nerfstudio format](https://docs.nerf.studio/quickstart/data_conventions.html#dataset-format) including assigned pose transforms of images, depth file path, masks files path.

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#### Personal and Sensitive Information

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No personal or sensitive information is included in this dataset. 

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## Bias, Risks, and Limitations

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While depth images are included in the Botany-Bot dataset, they were not used in our method and we have not validated them for accuracy. 

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## Citation

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If you use the dataset, please cite: 
<!-- **BibTeX:** -->
```bibtex
@inproceedings{adebola25botanybot,
  author={Adebola, Simeon and Kim, Chung Min and Kerr, Justin and Xie, Shuangyu and Akella, Prithvi and Susa Rincon, Jose Luis and Solowjow, Eugen and Goldberg, Ken},
  booktitle={2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
  title={Botany-Bot: Digital Twin Monitoring of Occluded and Underleaf Plant Structures with Gaussian Splats}, 
  year={2025},
  volume={},
  number={},
  pages={1839-1846},
  keywords={Image segmentation;Solid modeling;Accuracy;Three-dimensional displays;Service robots;Robot vision systems;Cameras;Digital twins;Monitoring;Videos},
  doi={10.1109/IROS60139.2025.11247474}
}
```

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**APA:**

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## Glossary [optional]

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## Dataset Card Authors

Simeon Adebola

## Dataset Card Contact

Simeon Adebola: simeon.adebola@berkeley.edu